Too many changes between commits.  Working state.  Getting about 40-60 fps in full mode without saving movies.  Using full contours (still hollow but have complete edges).
Fixed frame sync issue by not saving the first frame (don't actually understand this fix fully, but it produces synced movies and logs.  Now set up with movieSubsample to save
a movie frame every 3rd tracked frame.  On agenda: triggering, and getting the camera to give output pulses on frame acquisition.